vention-state-machine 0.4.5

Declarative state machine framework for machine apps

vention-state-machine

A lightweight wrapper around transitions for building async-safe, recoverable hierarchical state machines with minimal boilerplate.

Table of Contents

• ✨ Features
• 🧠 Concepts & Overview
• ⚙️ Installation & Setup
• 🚀 Quickstart Tutorial
• 🛠 How-to Guides
• 📖 API Reference
• 🔍 Troubleshooting & FAQ

✨ Features

• Built-in ready / fault states
• Global transitions: to_fault, reset
• Optional state recovery (recover__state)
• Async task spawning and cancellation
• Timeouts and auto-fault handling
• Transition history recording with timestamps + durations
• Guard conditions for blocking transitions
• Global state change callbacks for logging/MQTT
• Optional RPC bundle for exposing state machine via Connect RPCs

🧠 Concepts & Overview

This library uses a declarative domain-specific language (DSL) to define state machines in a readable, strongly typed way.

• State → A leaf node in the state machine
• StateGroup → Groups related states, creating hierarchical namespaces
• Trigger → Named events that initiate transitions

Example:

class MyStates(StateGroup):
    idle: State = State()
    working: State = State()

class Triggers:
    begin = Trigger("begin")
    finish = Trigger("finish")

TRANSITIONS = [
    Triggers.finish.transition(MyStates.working, MyStates.idle),
]

Base States and Triggers

All machines include:

States:

• ready (initial)
• fault (global error)

Triggers:

• start, to_fault, reset

from state_machine.core import BaseStates, BaseTriggers

state_machine.trigger(BaseTriggers.RESET.value)
assert state_machine.state == BaseStates.READY.value

⚙️ Installation & Setup

pip install vention-state-machine

Optional dependencies:

• Graphviz (required for diagram generation)
• vention-communication (for RPC bundle integration)

Install optional tools:

MacOS:

brew install graphviz
pip install vention-communication

Linux (Debian/Ubuntu)

sudo apt-get install graphviz
pip install vention-communication

🚀 Quickstart Tutorial

1. Define States and Triggers

from state_machine.defs import StateGroup, State, Trigger

class Running(StateGroup):
    picking: State = State()
    placing: State = State()
    homing: State = State()

class States:
    running = Running()

class Triggers:
    start = Trigger("start")
    finished_picking = Trigger("finished_picking")
    finished_placing = Trigger("finished_placing")
    finished_homing = Trigger("finished_homing")
    to_fault = Trigger("to_fault")
    reset = Trigger("reset")

2. Define Transitions

TRANSITIONS = [
    Triggers.start.transition("ready", States.running.picking),
    Triggers.finished_picking.transition(States.running.picking, States.running.placing),
    Triggers.finished_placing.transition(States.running.placing, States.running.homing),
    Triggers.finished_homing.transition(States.running.homing, States.running.picking),
]

3. Implement Your State Machine

from state_machine.core import StateMachine
from state_machine.decorators import on_enter_state, auto_timeout, guard, on_state_change

class CustomMachine(StateMachine):
    def __init__(self):
        super().__init__(states=States, transitions=TRANSITIONS)

    @on_enter_state(States.running.picking)
    @auto_timeout(5.0, Triggers.to_fault)
    def enter_picking(self, _):
        print("🔹 Entering picking")

    @on_enter_state(States.running.placing)
    def enter_placing(self, _):
        print("🔸 Entering placing")

    @on_enter_state(States.running.homing)
    def enter_homing(self, _):
        print("🔺 Entering homing")

    @guard(Triggers.reset)
    def check_safety_conditions(self) -> bool:
        return not self.estop_pressed

    @on_state_change
    def publish_state_to_mqtt(self, old_state: str, new_state: str, trigger: str):
        mqtt_client.publish("machine/state", {
            "old_state": old_state,
            "new_state": new_state,
            "trigger": trigger
        })

4. Start It

state_machine = StateMachine()
state_machine.start()

🛠 How-to Guides

Expose Over RPC with VentionApp

from communication.app import VentionApp
from state_machine.vention_communication import build_state_machine_bundle
from state_machine.core import StateMachine

state_machine = StateMachine(...)
state_machine.start()

app = VentionApp(name="MyApp")
bundle = build_state_machine_bundle(state_machine)
app.register_rpc_plugin(bundle)
app.finalize()

RPC Actions:

• GetState → Returns current state and last known state
• GetHistory → Returns transition history with timestamps
• Trigger_<TriggerName> → Triggers a state transition (e.g., Trigger_Start, Trigger_Activate)

Options:

# Customize which actions are included
bundle = build_state_machine_bundle(
    state_machine,
    include_state_actions=True,  # Include GetState
    include_history_action=True,  # Include GetHistory
    triggers=["start", "activate"],  # Only include specific triggers
)

Timeout Example

@auto_timeout(5.0, Triggers.to_fault)
def enter_state(self, _):
    ...

Recovery Example

state_machine = StateMachine(enable_last_state_recovery=True)
state_machine.start()  # will attempt recover__{last_state}

Triggering state transitions via I/O

Here's an example of hooking up state transitions to I/O events via MQTT

import asyncio
import paho.mqtt.client as mqtt
from state_machine.core import StateMachine
from state_machine.defs import State, StateGroup, Trigger
from state_machine.decorators import on_enter_state

class MachineStates(StateGroup):
    idle: State = State()
    running: State = State()

class States:
    machine = MachineStates()

class Triggers:
    start_button = Trigger("start_button")
    box_missing = Trigger("box_missing")

TRANSITIONS = [
    Triggers.start_button.transition(States.machine.idle, States.machine.running),
    Triggers.box_missing.transition(States.machine.running, States.machine.idle),
]

class MachineController(StateMachine):
    def __init__(self):
        super().__init__(states=States, transitions=TRANSITIONS)
        self.mqtt_client = mqtt.Client()
        self.setup_mqtt()

    def setup_mqtt(self):
        """Configure MQTT client to listen for I/O signals."""
        self.mqtt_client.on_connect = self.on_mqtt_connect
        self.mqtt_client.on_message = self.on_mqtt_message
        self.mqtt_client.connect("localhost", 1883, 60)
        
        # Start MQTT loop in background
        self.spawn(self.mqtt_loop())

    async def mqtt_loop(self):
        """Background task to handle MQTT messages."""
        self.mqtt_client.loop_start()
        while True:
            await asyncio.sleep(0.1)

    def on_mqtt_connect(self, client, userdata, flags, rc):
        """Subscribe to I/O topics when connected."""
        client.subscribe("machine/io/start_button")
        client.subscribe("machine/sensors/box_sensor")

    def on_mqtt_message(self, client, userdata, msg):
        """Handle incoming MQTT messages and trigger state transitions."""
        topic = msg.topic
        payload = msg.payload.decode()
        
        # Map MQTT topics to state machine triggers
        if topic == "machine/io/start_button" and payload == "pressed":
            self.trigger(Triggers.start_button.value)
        elif topic == "machine/sensors/box_sensor" and payload == "0":
            self.trigger(Triggers.box_missing.value)

    @on_enter_state(States.machine.running)
    def enter_running(self, _):
        print("🔧 Machine started - processing parts")
        self.mqtt_client.publish("machine/status", "running")

    @on_enter_state(States.machine.idle)
    def enter_idle(self, _):
        print("⏸️ Machine idle - ready for start")
        self.mqtt_client.publish("machine/status", "idle")

📖 API Reference

StateMachine

class StateMachine(HierarchicalGraphMachine):
    def __init__(
        self,
        states: Union[object, list[dict[str, Any]], None],
        *,
        transitions: Optional[list[dict[str, str]]] = None,
        history_size: Optional[int] = None,
        enable_last_state_recovery: bool = True,
        **kw: Any,
    )

Parameters:

• states: Either a container of StateGroups or a list of state dicts.
• transitions: List of transition dictionaries, or [].
• history_size: Max number of entries in transition history (default 1000).
• enable_last_state_recovery: If True, machine can resume from last recorded state.

Methods

spawn(coro: Coroutine) -> asyncio.Task Start a background coroutine and track it. Auto-cancelled on fault/reset.

cancel_tasks() -> None Cancel all tracked tasks and timeouts.

set_timeout(state_name: str, seconds: float, trigger_fn: Callable[[], str]) -> None Schedule a trigger if state_name stays active too long.

record_last_state() -> None Save current state for recovery.

get_last_state() -> Optional[str] Return most recently recorded state.

start() -> None Enter machine (recover__... if applicable, else start).

Properties

history -> list[dict[str, Any]] Full transition history with timestamps/durations.

get_last_history_entries(n: int) -> list[dict[str, Any]] Return last n transitions.

Decorators

@on_enter_state(state: State) Bind function to run on entry.

@on_exit_state(state: State) Bind function to run on exit.

@auto_timeout(seconds: float, trigger: Trigger) Auto-trigger if timeout expires.

@guard(*triggers: Trigger) Guard transition; blocks if function returns False.

@on_state_change Global callback (old_state, new_state, trigger) fired after each transition.

RPC Bundle

def build_state_machine_bundle(
    sm: StateMachine,
    *,
    include_state_actions: bool = True,
    include_history_action: bool = True,
    triggers: Optional[Sequence[str]] = None,
) -> RpcBundle

Builds an RPC bundle exposing the state machine via Connect-style RPCs:

• GetState - Returns current and last known state
• GetHistory - Returns transition history
• Trigger_<TriggerName> - One RPC per trigger (PascalCase naming)

The bundle can be registered with a VentionApp using app.register_rpc_plugin(bundle).

🔍 Troubleshooting & FAQ

• Transitions blocked unexpectedly → Check guard conditions.
• Callbacks not firing → Only successful transitions trigger them.
• State not restored after restart → Ensure enable_last_state_recovery=True.
• RPC actions not available → Ensure app.finalize() is called after registering bundles.